CN115793627A - Power adjusting system and method for autonomous moving device - Google Patents
Power adjusting system and method for autonomous moving device Download PDFInfo
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- CN115793627A CN115793627A CN202111060478.XA CN202111060478A CN115793627A CN 115793627 A CN115793627 A CN 115793627A CN 202111060478 A CN202111060478 A CN 202111060478A CN 115793627 A CN115793627 A CN 115793627A
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Abstract
The invention discloses a power adjusting system and a power adjusting method for an autonomous moving device. The power adjusting method comprises the step of outputting two first current control signals to two drivers through a control module respectively. The tilt angle of the autonomous mobile device is detected by an inertial measurement module. A travel route is planned through the navigation module, and the control module is used for acquiring a steering angle of the autonomous mobile device in the travel process. And estimating the weight of the autonomous mobile device by the control module according to different weight values of the autonomous mobile device stored by the database module. The control module outputs two second current control signals according to the two first current control signals, the weight of the autonomous moving device, the steering angle and the inclination angle and respectively transmits the two second current control signals to the two drivers, so that the two motors respectively drive the two wheels to perform differential control.
Description
Technical Field
The present invention relates to a power adjustment system and method for an autonomous moving apparatus, and more particularly, to a power adjustment system and method for improving steering stability of an autonomous moving apparatus.
Background
In the prior art, an Autonomous moving apparatus, such as an Autonomous Mobile Robot (AMR) or an Autonomous Guided Vehicle (AGV), cannot output proper power to wheel shafts on two sides because an accurate angle during steering cannot be confirmed during steering, and therefore, the driving motor system is prone to generate redundant power, which results in poor stability of the Autonomous moving apparatus during steering.
Therefore, it is an important subject to be solved in the art to improve the stability of the autonomous moving apparatus during turning, to improve the working efficiency of the autonomous moving apparatus and to reduce the energy consumption.
Disclosure of Invention
The present invention provides a power adjustment system for an autonomous moving apparatus and a method thereof, which are directed to overcome the disadvantages of the prior art.
In order to solve the above technical problem, one of the technical solutions of the present invention is to provide a power adjustment system of an autonomous moving apparatus, which includes two driving modules, an inertia measuring module, a navigation module, a database module, and a control module. The two driving modules are arranged in the autonomous moving device and are respectively connected with two wheels of the autonomous moving device, the two driving modules run independently, each driving module comprises a driver and a motor electrically connected with the driver, and each motor is connected with the corresponding wheel. The inertial measurement module is disposed within the autonomous mobile device for detecting a tilt angle of the autonomous mobile device. The navigation module is used for planning a traveling route so that the autonomous moving device can travel according to the traveling route. The database module is used for storing different weight values of the autonomous mobile device. The control module is arranged in the autonomous mobile device, is electrically connected with the two driving modules, the inertia measurement module and the navigation module, and is used for acquiring a steering angle of the autonomous mobile device in the travelling process when the autonomous mobile device moves along the travelling route. The control module is used for outputting two first current control signals to be respectively transmitted to the two drivers so as to enable the two drivers to respectively output two initial currents to the two motors, so that the two motors respectively drive the two wheels to push the autonomous moving device to run, and the control module is used for estimating the weight of the autonomous moving device according to the data of the database module. The control module outputs two second current control signals according to the two first current control signals, the weight of the autonomous mobile device, the steering angle and the inclination angle, and the two second current control signals are respectively transmitted to the two drivers, and the two drivers respectively output two adjusting currents to the two motors so that the two motors respectively drive the two wheels to perform differential control.
Preferably, the weight of the autonomous moving apparatus includes the own weight and the carrying weight of the autonomous moving apparatus.
Preferably, the navigation module is configured to locate the position of the autonomous mobile apparatus in real time, and construct a map of a surrounding environment of the position of the autonomous mobile apparatus, so as to further plan the travel route.
Preferably, the control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function, where the signal gain function includes:
L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2))；
wherein L1 is a first current control signal, L2 is a second current control signal, W is the weight of the autonomous moving apparatus 0 To preset the reference weight of the autonomous moving apparatus, θ 1 is a tilt angle, and θ 2 is a steering angle.
Preferably, the database module further includes a gradient of a position where the autonomous mobile device is located, a current variation amount output by the driver, and a speed of the autonomous mobile device.
Preferably, when the current variation output by each driver at the nth second exceeds half of the maximum current amount, the control module is configured to collect the current value at the nth second, and when the current variation output by each driver lasts for k seconds and the variation amplitude within k seconds is less than 10% of the current variation at the nth second, the control module is configured to collect the speed of the autonomous moving device at the n + k seconds, and the control module is configured to compare the speed of the autonomous moving device at the n + k seconds, the current variation output by the driver at the nth second, and the gradient of the position where the autonomous moving device is located with the data in the database module to estimate the weight of the autonomous moving device.
In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a power adjustment method for an autonomous moving apparatus, where the autonomous moving apparatus is provided with two driving modules, an inertia measuring module, a navigation module, a database module, and a control module, the two driving modules are respectively connected to two wheels of the autonomous moving apparatus, each driving module includes a driver and a motor electrically connected to the driver, each motor is connected to a corresponding wheel, and the control module is electrically connected to the two driving modules, the inertia measuring module, and the navigation module, and the power adjustment method includes: two first current control signals output by the control module are respectively transmitted to the two drivers, so that the two drivers respectively output two initial currents to the two motors, and the two motors respectively drive the two wheels to push the autonomous moving device to run; detecting a tilt angle of the autonomous mobile device by an inertial measurement module; a traveling route is planned through the navigation module, so that the autonomous mobile device travels according to the traveling route, and the control module is used for acquiring a steering angle of the autonomous mobile device in the traveling process; estimating the weight of the autonomous mobile device by the control module according to different weight values of the autonomous mobile device stored in the database module; the two second current control signals are output by the control module according to the two first current control signals, the weight of the autonomous moving device, the steering angle and the inclination angle and are respectively transmitted to the two drivers, and the two drivers respectively output two adjusting currents to the two motors so that the two motors respectively drive the two wheels to perform differential speed control.
Preferably, the weight of the autonomous moving apparatus includes the own weight and the carrying weight of the autonomous moving apparatus.
Preferably, the navigation module is configured to locate the position of the autonomous mobile apparatus in real time, and construct a map of a surrounding environment of the position of the autonomous mobile apparatus, so as to further plan the travel route.
Preferably, the control module outputs the second current control signal after adjusting the first current control signal according to a signal gain function, where the signal gain function includes:
L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2))；
wherein L1 is a first current control signal, L2 is a second current control signal, W is the weight of the autonomous moving apparatus 0 To preset the reference weight of the autonomous moving apparatus, θ 1 is a steering angle, and θ 2 is a tilt angle.
Preferably, the database module further includes a gradient of a position where the autonomous mobile device is located, a current variation amount output by the driver, and a speed of the autonomous mobile device.
Preferably, when the current variation output by each driver at the nth second exceeds half of the maximum current amount, the control module is configured to collect the current value at the nth second, and when the current variation output by each driver lasts for k seconds and the variation amplitude within k seconds is less than 10% of the current variation at the nth second, the control module is configured to collect the speed of the autonomous moving device at the n + k seconds, and the control module is configured to compare the speed of the autonomous moving device at the n + k seconds, the current variation output by the driver at the nth second, and the gradient of the position where the autonomous moving device is located with the data in the database module to estimate the weight of the autonomous moving device.
The power adjustment system and method of the autonomous moving apparatus provided by the present invention can output two first current control signals to the two drivers respectively through the "control module to enable the two drivers to output two initial currents to the two motors respectively, so that the two motors drive the two wheels respectively to drive the autonomous moving apparatus to run, and the control module is configured to estimate the weight of the autonomous moving apparatus according to the data of the database module" and the "control module outputs two second current control signals to the two drivers respectively according to the two first current control signals, the weight, the steering angle, and the inclination angle of the autonomous moving apparatus", and the two drivers output two adjustment currents to the two motors respectively, so that the two motors drive the two wheels respectively to perform differential control ", thereby improving the stability of the autonomous moving apparatus during turning, improving the working efficiency of the autonomous moving apparatus, and reducing energy consumption.
For a better understanding of the features and technical content of the present invention, reference should be made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
Fig. 1 is a first perspective view of an autonomous moving apparatus according to the present invention.
Fig. 2 is a second perspective view of the autonomous moving apparatus of the present invention.
FIG. 3 is a system diagram of a power adjustment system of the autonomous moving apparatus according to the present invention.
Fig. 4 is a schematic inclination diagram of the autonomous moving apparatus of the present invention.
Fig. 5 is a schematic turning diagram of the autonomous moving apparatus of the present invention.
FIG. 6 is a schematic diagram of a weight estimation process of the power adjustment system of the autonomous moving apparatus according to the present invention.
Fig. 7 is a vehicle weight estimation representation of the power adjustment system of the autonomous moving apparatus of the present invention.
Fig. 8 is a schematic diagram of steps S1 to S5 of the power adjustment method of the autonomous moving apparatus according to the present invention.
Detailed Description
The following is a description of embodiments of the present disclosure relating to a power adjustment system for an autonomous moving apparatus and a method thereof, with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present disclosure from the disclosure of the present disclosure. The invention is capable of other and different embodiments and its several details are capable of modification and various other changes, which can be made in various details within the specification and without departing from the spirit and scope of the invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used primarily to distinguish one element from another. In addition, the term "or" as used herein should be taken to include any one or combination of more of the associated listed items as the case may be.
Examples
Referring to fig. 1, 2 and 3, fig. 1 and 2 are schematic perspective views of an autonomous moving apparatus according to the present invention, and fig. 3 is a system schematic view of a power adjustment system of the autonomous moving apparatus according to the present invention. An embodiment of the present invention provides an Autonomous moving apparatus Z, which may be, for example, an Autonomous Mobile Robot (AMR) or an Autonomous Guided Vehicle (AGV). The autonomous moving apparatus Z includes: two driving modules 1, an inertia measuring module 2, a navigation module 3, a database module 4 and a control module 5. The two driving modules 1, the inertia measurement module 2, the database module 4 and the control module 5 are arranged in the autonomous mobile device Z, and the navigation module 3 is arranged on the autonomous mobile device Z. The control module 5 is electrically connected to the two driving modules 1, the inertia measurement module 2, the navigation module 3 and the database module 4. The two drive modules 1 are connected to two wheels 13 of the autonomous moving apparatus Z, respectively. Two wheels 13 of the autonomous moving apparatus Z are provided at the bottom of the autonomous moving apparatus Z. In the present embodiment, two driving modules 1 operate independently, each driving module 1 includes a driver 11 and a motor 12 electrically connected to the driver 11, and each motor 12 is connected to a corresponding wheel 13. Further, the driver 11 of the driving module 1 can be connected to a power module 6, and the control module 5 can be electrically connected between the driver 11 and the power module 6. The power module 6 provides power to the motor 12 through the driver 11, and the driver 11 can convert a constant voltage from an ac power provided by the power module 6 into a variable voltage capable of controlling the torque and the rotation speed of the motor 12.
Referring to fig. 4, fig. 4 is a schematic oblique view of the autonomous moving apparatus of the present invention. For example, the inertial measurement module 2 may be composed of a plurality of acceleration sensing components (mainly measuring the linear acceleration of the movement direction of the autonomous mobile device) and a plurality of gyroscopes (mainly measuring the angular velocity of the movement direction of the autonomous mobile device), so that the attitude of the autonomous mobile device Z can be further calculated. To detect the tilt angle θ 1 of the autonomous moving apparatus Z. If the autonomous moving apparatus Z is located on a slope surface P, the inertia measurement module 2 can measure that the autonomous moving apparatus Z is in an inclined state, that is, the vehicle body of the autonomous moving apparatus Z is at an inclination angle θ 1 with respect to the horizontal ground, so that the inertia measurement module 2 can detect the inclination angle θ 1 from the autonomous moving apparatus Z, and the inclination angle θ 1 is equal to the slope angle of the slope surface P, which represents the slope of the slope surface P. In addition, the autonomous moving apparatus Z may further include a speed sensing device (not shown), such as a magnetic induction type shaft rotation speed sensing device, coupled to the motor 12 for connecting to an output shaft (not shown) of the wheel 13 and detecting a rotation speed of the output shaft, and the control module 5 receives a sensing signal output by the speed sensing device to calculate the speed of the autonomous moving apparatus Z.
Referring to fig. 3 and 5, fig. 5 is a schematic turning diagram of the autonomous moving apparatus of the present invention. The navigation module 3 includes an optical radar (LiDAR) 31, an ultrasonic sensor 32, or an image capturing component 33, for example, the autonomous mobile device Z can perform light reflection navigation positioning through the optical radar 31; alternatively, the autonomous mobile device Z may perform ultrasonic navigation positioning by the ultrasonic sensor 32; alternatively, the autonomous mobile device Z may be visually navigated by the image capturing component 33 (including but not limited to a camera or a CCD image sensor). Further, in the embodiment of the present invention, the navigation module 3 may locate the position of the autonomous mobile apparatus Z in real time, construct a map of the surrounding environment of the position of the autonomous mobile apparatus Z, and plan a travel route according to the map, so that the autonomous mobile apparatus Z travels according to the travel route. In addition, when the autonomous moving device Z travels according to the travel route, the control module 5 may acquire the steering angle θ 2 of the autonomous moving device Z during travel.
The Control module 5 is a Vehicle Control Unit (VCU) disposed inside the autonomous mobile apparatus Z for receiving various sensing signals output by various sensing components inside the autonomous mobile apparatus Z. For example, the control module 5 is electrically connected to the two driving modules 1, the inertia measurement module 2, the navigation module 3 and the database module 4, so as to transmit signals with the driving modules 1, the inertia measurement module 2 and the navigation module 3, to collect information such as current variation, tilt angle and steering angle, and further to read and analyze the signals and output corresponding control signals to the related components to command the related components to perform corresponding actions.
Referring to fig. 6, fig. 6 is a schematic view illustrating a weight estimation process of the power adjustment system of the autonomous moving apparatus according to the present invention. Next, the weight estimation mechanism of the power adjustment system of the autonomous moving apparatus of the present invention is further described. First, the control module 5 may detect the current value outputted by the power module 6 and transmitted to the motor 12 via the driver 11 to detect whether the starting state of the autonomous moving apparatus Z is in the static state. Next, the inertial measurement module 2 detects the gradient of the position of the autonomous mobile device Z to obtain an inclination angle θ 1, and the control unit 4 collects the inclination angle θ 1 and stores it in the database module 4. Then, the control module 5 further detects the current variation output by each driver 11 in the nth second, when the current variation output by each driver 11 in the nth second exceeds half of the maximum current amount that each driver 11 can output, the control module 5 is configured to collect the current value in the nth second, and when the current variation output by each driver 11 lasts for k seconds (k =1 in this embodiment) and the variation range in k seconds is less than 10% of the current variation in the nth second, the control module 5 is configured to collect the speed of the autonomous moving device Z in the n + k seconds, and the control module 5 compares the speed of the autonomous moving device Z in the n + k seconds, the current variation output by the driver 11 in the nth second, and the gradient of the position where the autonomous moving device Z is located with the data in the database module 4 to estimate the weight of the autonomous moving device Z.
It is to be noted that the database module 4 may be a storage device, such as a hard disk or a memory, etc., provided in the autonomous mobile device Z, but the present invention is not limited thereto. The database module 4 may also be a remote server, in signal communication with the autonomous mobile means Z via a network connection. In this embodiment, the database module 4 stores different weight values of the autonomous mobile device Z, and it should be noted that the weight of the autonomous mobile device Z includes the own weight and the carrying weight of the autonomous mobile device Z. In addition, the database module 4 stores different weight values of the autonomous mobile device Z, and also includes a gradient of a position where the autonomous mobile device Z is located, a current variation amount output by the driver 11, and a speed of the autonomous mobile device Z. Further, the data stored in the database module 4 is constructed as a database, and mainly includes a corresponding relation table between parameters obtained through a plurality of in-situ tests, which represents the weight of the autonomous moving device Z corresponding to different conditions of the slope (i.e., the inclination angle) of the autonomous moving device Z at different positions, the amount of change in the current output by the driver 11 at different times, and different speeds. In other words, the database is an aggregate of a group of related data (the gradient of the location of the autonomous mobile device Z, the amount of change in the current output by the driver 11 at different times, the different speeds of the autonomous mobile device Z, and the weight of the autonomous mobile device Z), so that the control module 5 can obtain the required result by searching, sorting, calculating, querying, and the like.
Referring to fig. 7, fig. 7 is a vehicle weight estimation representation of the power adjustment system of the autonomous moving apparatus according to the present invention, which shows one embodiment of the correspondence table stored in the database module 4, and mainly represents speed information corresponding to the weights (vehicle weight 300kg, 500kg, 700 kg) of different autonomous moving apparatuses Z at different slopes (inclination angle θ 1 is 0 degrees, 5 degrees, 10 degrees, and 15 degrees) under the condition that the current variation amount output by the driver 11 is 100% and lasts for one second (k = 1). For example, if the vehicle speed measured by the control module 5 under the condition that the inclination angle θ 1 is 0 degrees and the amount of current change output by the driver 11 is 100% for one second is 5.23m/s, i.e., 18.8KPH (km/hr), the estimated vehicle weight is 300kg according to the vehicle weight estimation table. However, the above-mentioned examples are only one possible embodiment and are not intended to limit the present invention.
Referring to fig. 8, fig. 8 is a schematic diagram illustrating steps S1 to S5 of the power adjustment method of the autonomous moving apparatus according to the present invention, which can be implemented by the power adjustment system of the autonomous moving apparatus Z disclosed above. The power adjusting method at least comprises the following steps:
step S1: two first current control signals output by the control module 5 are respectively transmitted to the two drivers, so that the two drivers 11 respectively output two initial currents to the two motors 12, and the two motors 12 respectively drive the two wheels 13 to push the autonomous moving device Z to run;
step S2: detecting an inclination angle theta 1 of the autonomous moving device Z through an inertia measurement module 2;
and step S3: a traveling route is planned through the navigation module 3, so that the autonomous moving device Z travels according to the traveling route, and the control module 5 is used for acquiring a steering angle theta 2 of the autonomous moving device Z in the traveling process;
and step S4: estimating the weight of the autonomous mobile device Z by the control module 5 according to the different weight values of the autonomous mobile device Z stored in the database module 4;
step S5: the control module 5 outputs two second current control signals according to the two first current control signals, the weight of the autonomous moving device Z, the steering angle θ 2 and the inclination angle θ 1 to be respectively transmitted to the two drivers 11, and the two drivers 11 respectively output two adjusting currents to the two motors 12, so that the two motors 12 respectively drive the two wheels 13 to perform differential speed control.
In view of the above, the control module 5 outputs the second current control signal after adjusting the first current control signal according to a signal gain function, where the signal gain function is:
L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2))；
wherein L1 is a first current control signal, L2 is a second current control signal, W is the weight of the autonomous moving apparatus 0 For the preset reference weight of the autonomous moving means Z (in this embodiment W) 0 ＝500kg)，(W/W 0 ) For the weight factor, θ 1 is the inclination angle and (1 ± tan (θ 1)) is the gradient factor, θ 2 is the steering angle and (1 ± tan (θ 2)) is the steering factor.
It should be noted that, since the two driving modules 1 of the present invention operate independently of each other, the gain values obtained by the two driving modules 1 are different in steering. Next, the above-described "differential control" will be described below by taking two examples.
For example, when the autonomous moving apparatus Z with a weight of 300kg makes a left turn of 10 degrees (the steering angle θ 2 is 10 degrees) on a right-inclined slope with a slope of 10 degrees (the inclination angle θ 1 is 10 degrees), the weight factor of the left driving module 1 is (300/500) =0.6, the slope factor is (1 +) tan (10)) =1.176 (since a left turn is performed on the right-inclined slope relative to the motor 12, the slope factor is increased), the steering factor is (1-tan (10)) =0.823 (since the motor 12 of the left driving module 1 needs to output a smaller torque when the left turn is performed, the steering factor is decreased), and thus the overall gain of the left driving module 1 is 0.6 × 1.176 × 0.823, that is, the control module 5 may calculate the first current control signal for the left driving module 1 according to the signal gain function, and output the second current control signal after the gain addition: l2= L1 × 0.58; on the other hand, similarly, when the autonomous moving apparatus Z with a weight of 300kg makes a left turn of 10 degrees on a right-inclined slope with a slope of 10 degrees, the weight factor of the right driving module 1 is (300/500) =0.6, the slope factor is (1 + tan (10)) =1.176 (since the motor 12 needs to output a larger torque when making a left turn on the right inclined slope, the slope factor is increased), the steering factor is (1 + tan (10)) =1.176 (since the motor 12 of the right driving module 1 needs to output a larger torque when making a left turn, the steering factor is increased), and therefore the overall gain of the right driving module 1 is 0.6 × 1.176=0.83, that is, the control module 5 may calculate the first current control signal for the right driving module 1 according to the signal gain function, and output the second current control signal after the gain addition: l2= L1 × 0.83.
For example, when the autonomous moving apparatus Z with a weight of 700kg makes a left turn of 10 degrees (the steering angle θ 2 is 10 degrees) on a left-inclined slope with a slope of 15 degrees (the inclination angle θ 1 is 15 degrees), the weight factor of the left driving module 1 is (700/500) =1.4, the slope factor is (1-tan (15)) =0.732 (the slope factor is adjusted down because the motor needs to output a smaller torque force when making a left turn on the left-inclined slope as compared to the motor, and the steering factor is (1-tan (10)) = 0.823) (the motor 12 of the left driving module 1 needs to output a smaller torque force when making a left turn, and the steering factor is adjusted down), so that the overall gain of the left driving module 1 is 1.4 × 0.732 × 0.823 0.84, that is, the control module 5 may calculate the first current control signal for the left driving module 1 according to the signal gain function, and then output the second current control signal after the gain addition: l2= L1 × 0.84; on the other hand, similarly, when the autonomous moving apparatus Z with a weight of 700kg makes a left turn of 10 degrees (the steering angle θ 2 is 10 degrees) on a left-inclined slope with a slope of 15 degrees (the inclination angle θ 1 is 15 degrees), the weight factor of the right driving module 1 is (700/500) =1.4, the slope factor is (1-tan (15)) =0.732 (because a left turn is made on the left-inclined slope, the motor 12 needs to output a smaller torque force relatively, and the slope factor is adjusted downward), the steering factor is (1 tan (10)) =1.176 (because the motor 12 of the right driving module 1 needs to output a larger torque force relatively, and the slope factor is adjusted upward), and therefore the overall gain of the right driving module 1 is 1.4 × 0.732 × 1.176=1.2, that is, the control module 5 can calculate the first current control signal for the right driving module 1 according to the above signal gain function, and then output the second current control signal after the gain: l2= L1 × 1.2.
However, the above-mentioned examples are only one possible embodiment and are not intended to limit the present invention.
Advantageous effects of the embodiments
One of the advantages of the present invention is that the power adjustment system and the method for the autonomous moving apparatus Z provided by the present invention can output two first current control signals to the two drivers 11 through the "control module 5, so that the two drivers 11 output two initial currents to the two motors 13, respectively, so that the two motors 12 drive the two wheels 13, respectively, to propel the autonomous moving apparatus Z to travel," the control module 5 estimates the weight of the autonomous moving apparatus Z according to the data of the database module 4, "and the technical scheme" the control module 5 outputs two second current control signals to the two drivers 11, respectively, according to the two first current control signals, the weight of the autonomous moving apparatus Z, the steering angle θ 2, and the inclination angle θ 1 of the autonomous moving apparatus Z, and the two drivers 11 output two adjustment currents to the two motors 12, respectively, so that the two motors 12 drive the two wheels 13, respectively, to perform differential control, "so as to perform control on the two driving modules 1 operating independently from each other, to improve the stability of the autonomous moving apparatus Z when the autonomous moving apparatus Z turns, and improve the working efficiency of the autonomous moving apparatus Z and reduce energy consumption.
The above disclosure is only a preferred embodiment of the present invention, and is not intended to limit the scope of the claims, so that all the modifications and equivalents of the technical changes and equivalents using the contents of the present invention and the drawings are included in the scope of the claims.
Claims (12)
1. A power adjustment system for an autonomous mobile apparatus, the power adjustment system comprising:
the two driving modules are arranged in the autonomous moving device and are respectively connected with two wheels of the autonomous moving device, the two driving modules run independently, each driving module comprises a driver and a motor electrically connected with the driver, and each motor is connected with the corresponding wheel;
the inertia measurement module is arranged in the autonomous mobile device and used for detecting the inclination angle of the autonomous mobile device;
the navigation module is arranged on the autonomous mobile device and used for planning a traveling route so that the autonomous mobile device can travel according to the traveling route;
the database module is arranged in the autonomous mobile device and used for storing different weight values of the autonomous mobile device; and
the control module is arranged in the autonomous mobile device and is electrically connected with the two driving modules, the inertia measurement module, the navigation module and the database module, and when the autonomous mobile device moves along the traveling route, the control module is used for acquiring a steering angle of the autonomous mobile device in the traveling process;
the control module is used for outputting two first current control signals which are respectively transmitted to the two drivers so that the two drivers respectively output two initial currents to the two motors so that the two motors respectively drive the two wheels to push the autonomous moving device to run, and the control module is used for estimating the weight of the autonomous moving device according to the data of the database module;
the control module is used for outputting two second current control signals to be respectively transmitted to the two drivers according to the two first current control signals, the weight of the autonomous moving device, the steering angle and the inclination angle, and the two drivers respectively output two adjusting currents to the two motors so that the two motors respectively drive the two wheels to perform differential speed control.
2. The powered adjustment system of an autonomous mobile apparatus of claim 1 wherein the weight of the autonomous mobile apparatus includes the own weight and the bearing weight of the autonomous mobile apparatus.
3. The system of claim 1, wherein the navigation module is configured to locate a location of the autonomous mobile apparatus in real time, and construct a map of a surrounding environment of the location of the autonomous mobile apparatus to further plan the travel route.
4. The system of claim 1, wherein the control module adjusts the first current control signal according to a signal gain function and outputs the second current control signal, the signal gain function comprising:
L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2))；
wherein L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous moving apparatus 0 θ 1 is the tilt angle, and θ 2 is the steering angle, which are preset reference weights of the autonomous moving apparatus.
5. The system of claim 1, wherein the database module further comprises a slope of a location of the autonomous mobile device, a change in current output by the driver, and a speed of the autonomous mobile device.
6. The system of claim 5, wherein the control module is configured to collect the current value of the nth second when the current variation outputted by each of the drivers in the nth second exceeds half of the maximum current amount, and to collect the speed of the autonomous moving apparatus in the (n + k) th second when the current variation outputted by each of the drivers lasts for k seconds and the variation range in k seconds is less than 10% of the current variation in the nth second, and the control module is configured to compare the speed of the autonomous moving apparatus in the (n + k) th second, the current variation outputted by the driver in the nth second, and the gradient of the position of the autonomous moving apparatus with the data in the database module to estimate the weight of the autonomous moving apparatus.
7. A power adjustment method of an autonomous moving device, the autonomous moving device is provided with two driving modules, an inertia measuring module, a navigation module, a database module and a control module, the two driving modules are respectively connected with two wheels of the autonomous moving device, each driving module comprises a driver and a motor electrically connected with the driver, each motor is connected with the corresponding wheel, and the control module is electrically connected with the two driving modules, the inertia measuring module and the navigation module, and the power adjustment method is characterized by comprising the following steps:
two first current control signals are output by the control module and are respectively transmitted to the two drivers, so that the two drivers respectively output two initial currents to the two motors, and the two motors respectively drive the two wheels to push the autonomous moving device to run;
detecting, by the inertial measurement module, a tilt angle of the autonomous mobile device;
planning a traveling route through the navigation module, enabling the autonomous mobile device to travel according to the traveling route, and acquiring a steering angle of the autonomous mobile device in the traveling process through the control module;
estimating the weight of the autonomous mobile device by the control module according to different weight values of the autonomous mobile device stored by the database module; and
and outputting two second current control signals to the two drivers respectively through the control module according to the two first current control signals, the weight of the autonomous moving device, the steering angle and the inclination angle, and outputting two adjusting currents to the two motors respectively by the two drivers so that the two motors respectively drive the two wheels to perform differential speed control.
8. The power adjustment method for an autonomous moving apparatus according to claim 7, wherein the weight of the autonomous moving apparatus includes a self weight and a carrying weight of the autonomous moving apparatus.
9. The method of claim 7, wherein the navigation module is configured to locate the location of the autonomous mobile apparatus in real time and construct a map of the surrounding environment of the location of the autonomous mobile apparatus to further plan the travel route.
10. The method of claim 7, wherein the control module adjusts the first current control signal according to a signal gain function and outputs the second current control signal, the signal gain function comprising:
L2＝L1×(W/W 0 )×(1±tan(θ1))×(1±tan(θ2))；
wherein L1 is the first current control signal, L2 is the second current control signal, W is the weight of the autonomous moving apparatus, W is 0 θ 1 is the steering angle, and θ 2 is the tilt angle, which are preset reference weights of the autonomous moving apparatus.
11. The method of claim 7, wherein the database module further comprises a slope of a location of the autonomous mobile device, an amount of change in current output by the driver, and a speed of the autonomous mobile device.
12. The method of claim 11, wherein the control module is configured to collect a current value of an nth second when a current variation output by each driver at the nth second exceeds half of a maximum current amount, collect a speed of the autonomous moving apparatus at an n + k second when the current variation output by each driver lasts for k seconds and a variation range within k seconds is less than 10% of the current variation at the nth second, and compare the speed of the autonomous moving apparatus at the n + k seconds, the current variation output by the driver at the nth second, and a gradient of a position of the autonomous moving apparatus with data in the database module to estimate the weight of the autonomous moving apparatus.
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